JPWO2021009976A1 - - Google Patents
Info
- Publication number
- JPWO2021009976A1 JPWO2021009976A1 JP2021532676A JP2021532676A JPWO2021009976A1 JP WO2021009976 A1 JPWO2021009976 A1 JP WO2021009976A1 JP 2021532676 A JP2021532676 A JP 2021532676A JP 2021532676 A JP2021532676 A JP 2021532676A JP WO2021009976 A1 JPWO2021009976 A1 JP WO2021009976A1
- Authority
- JP
- Japan
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37391—Null, initial load, no load torque detection or other parameter at no load
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37621—Inertia, mass of rotating, moving tool, workpiece, element
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37632—By measuring current, load of motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41213—Lookup table for load, motor torque as function of actual position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42168—Measuring of needed force for servo
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42295—Detect augmenting torque of drive motor
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Electric Motors In General (AREA)
- Testing And Monitoring For Control Systems (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JPPCT/JP2019/028261 | 2019-07-18 | ||
| PCT/JP2019/028261 WO2021009903A1 (ja) | 2019-07-18 | 2019-07-18 | ロボットシステム、ロボットの制御方法、サーボシステム |
| US201962940912P | 2019-11-27 | 2019-11-27 | |
| US62/940,912 | 2019-11-27 | ||
| PCT/JP2020/014290 WO2021009976A1 (ja) | 2019-07-18 | 2020-03-27 | 制御システム、制御装置及び制御方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPWO2021009976A1 true JPWO2021009976A1 (https=) | 2021-01-21 |
| JP7222427B2 JP7222427B2 (ja) | 2023-02-15 |
Family
ID=74209787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021532676A Active JP7222427B2 (ja) | 2019-07-18 | 2020-03-27 | 制御システム、制御装置及び制御方法 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US11750133B2 (https=) |
| EP (1) | EP4002053A4 (https=) |
| JP (1) | JP7222427B2 (https=) |
| CN (1) | CN114127659B (https=) |
| WO (1) | WO2021009976A1 (https=) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021049597A (ja) * | 2019-09-24 | 2021-04-01 | ソニー株式会社 | 情報処理装置、情報処理システム及び情報処理方法 |
| CN117916062A (zh) * | 2021-09-14 | 2024-04-19 | 发那科株式会社 | 机器人系统及机器人控制装置 |
| KR102642245B1 (ko) * | 2023-11-24 | 2024-02-29 | 주식회사 나우로보틱스 | 작업 공간 힘/가속도 외란 관측기 및 이를 포함하는 로봇 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009297827A (ja) * | 2008-06-12 | 2009-12-24 | Fuji Electric Holdings Co Ltd | ロボット暴走判定方法およびロボット制御装置 |
| JP2013066965A (ja) * | 2011-09-21 | 2013-04-18 | Toshiba Corp | ロボット制御装置、外乱判定方法およびアクチュエータ制御方法 |
| JP2013225284A (ja) * | 2012-04-20 | 2013-10-31 | Linestream Technologies | 動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム |
| JP2018065221A (ja) * | 2016-10-19 | 2018-04-26 | ファナック株式会社 | 機械学習により外力の検出精度を向上させた人協調ロボットシステム |
| JP2018089744A (ja) * | 2016-12-02 | 2018-06-14 | ファナック株式会社 | ロボットを制御するロボット制御装置、およびロボットに加わる外乱値を推定する方法 |
Family Cites Families (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5103404A (en) * | 1985-12-06 | 1992-04-07 | Tensor Development, Inc. | Feedback for a manipulator |
| US4891764A (en) * | 1985-12-06 | 1990-01-02 | Tensor Development Inc. | Program controlled force measurement and control system |
| JPH074765B2 (ja) | 1986-03-03 | 1995-01-25 | 長尾 高明 | 曲面加工装置 |
| JPS6347058A (ja) | 1986-08-13 | 1988-02-27 | Daikin Ind Ltd | ロボツトの制御装置 |
| JP2676793B2 (ja) | 1988-06-30 | 1997-11-17 | トヨタ自動車株式会社 | 倣い制御ロボット |
| US4886529A (en) | 1988-07-08 | 1989-12-12 | Showa Precision Machinery Co., Ltd. | Polishing robot and polishing method using the same |
| JPH04135189A (ja) | 1990-09-21 | 1992-05-08 | Hitachi Ltd | ロボット制御装置 |
| KR100439466B1 (ko) | 1995-09-11 | 2004-09-18 | 가부시키가이샤 야스가와덴끼 | 로봇제어장치 |
| JP3383614B2 (ja) | 1999-08-04 | 2003-03-04 | 技術研究組合医療福祉機器研究所 | 水平多関節型ロボットアームのインピーダンス制御装置 |
| KR100486582B1 (ko) * | 2002-10-15 | 2005-05-03 | 엘지전자 주식회사 | 왕복동식 압축기의 스트로크 검출장치 및 방법 |
| US7456592B2 (en) * | 2003-12-17 | 2008-11-25 | Lg Electronics Inc. | Apparatus and method for controlling operation of reciprocating compressor |
| JP5262811B2 (ja) * | 2008-10-31 | 2013-08-14 | トヨタ自動車株式会社 | 車両のバネ上制振制御装置 |
| JP2011125986A (ja) | 2009-12-21 | 2011-06-30 | Saito-Seiki Co Ltd | 角ブロックの表面研削装置 |
| JP5170175B2 (ja) | 2010-06-30 | 2013-03-27 | 株式会社安川電機 | ロボットシステム |
| US8710777B2 (en) | 2012-04-20 | 2014-04-29 | Linestream Technologies | Method for automatically estimating inertia in a mechanical system |
| JP6136337B2 (ja) | 2013-02-15 | 2017-05-31 | 株式会社Ihi | 姿勢検知制御装置、研磨装置、および、姿勢検知制御方法 |
| CN105409110A (zh) * | 2013-08-19 | 2016-03-16 | 株式会社安川电机 | 电机驱动系统以及电机控制装置 |
| JP2016028842A (ja) | 2014-07-17 | 2016-03-03 | 株式会社ロボテック | アクチュエータシステム |
| JP6088583B2 (ja) | 2015-06-08 | 2017-03-01 | ファナック株式会社 | ロボットと力の表示機能を備えたロボット制御装置 |
| JP6457569B2 (ja) | 2017-02-24 | 2019-01-23 | ファナック株式会社 | サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム |
| CN107016208B (zh) * | 2017-04-17 | 2021-09-03 | 珞石（山东）智能科技有限公司 | 一种基于抖动控制的工业机器人外力估计方法 |
| CN107204726B (zh) * | 2017-07-20 | 2020-03-17 | 广东美芝制冷设备有限公司 | 永磁同步电机的控制方法及系统 |
| WO2019065427A1 (ja) | 2017-09-26 | 2019-04-04 | 倉敷紡績株式会社 | ロボットハンドシステム制御方法およびロボットハンドシステム |
-
2020
- 2020-03-27 JP JP2021532676A patent/JP7222427B2/ja active Active
- 2020-03-27 EP EP20839682.0A patent/EP4002053A4/en active Pending
- 2020-03-27 CN CN202080051279.XA patent/CN114127659B/zh active Active
- 2020-03-27 WO PCT/JP2020/014290 patent/WO2021009976A1/ja not_active Ceased
-
2022
- 2022-01-13 US US17/574,581 patent/US11750133B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009297827A (ja) * | 2008-06-12 | 2009-12-24 | Fuji Electric Holdings Co Ltd | ロボット暴走判定方法およびロボット制御装置 |
| JP2013066965A (ja) * | 2011-09-21 | 2013-04-18 | Toshiba Corp | ロボット制御装置、外乱判定方法およびアクチュエータ制御方法 |
| JP2013225284A (ja) * | 2012-04-20 | 2013-10-31 | Linestream Technologies | 動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム |
| JP2018065221A (ja) * | 2016-10-19 | 2018-04-26 | ファナック株式会社 | 機械学習により外力の検出精度を向上させた人協調ロボットシステム |
| JP2018089744A (ja) * | 2016-12-02 | 2018-06-14 | ファナック株式会社 | ロボットを制御するロボット制御装置、およびロボットに加わる外乱値を推定する方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| US11750133B2 (en) | 2023-09-05 |
| JP7222427B2 (ja) | 2023-02-15 |
| WO2021009976A1 (ja) | 2021-01-21 |
| CN114127659A (zh) | 2022-03-01 |
| EP4002053A1 (en) | 2022-05-25 |
| EP4002053A4 (en) | 2023-12-13 |
| CN114127659B (zh) | 2024-02-27 |
| US20230006590A1 (en) | 2023-01-05 |
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